VEHICLE-MOUNTED ENVIRONMENT RECOGNITION DEVICE

The present invention provides a vehicle-mounted environment recognition device that makes geometric camera calibration easy even if a single object shown in images photographed using a plurality of cameras has significantly different appearances in the images. The present invention comprises a first camera (100), a second camera (110), and a control device (10) for extracting a plurality of corresponding points after viewpoint conversion in which a first image imaged by the first camera and a second image imaged by the second camera are converted into images from a common viewpoint through the transformation of at least one from among the first image and second image and using the coordinates of the plurality of corresponding points in the first image and second image before viewpoint conversion to geometrically calibrate the first camera and second camera. 本发明提供一种即便在多个摄像机拍摄到的图像中映有表观存在较大差异的同一物体的情况下也能容易地实现摄像机的几何校正的车载环境识别装置。本发明的车载环境识别装置具备：第1摄像机(100)及第2摄像机(110)；以及控制装置(10)，其进行通过将第1摄像机拍摄到的第1图像和第2摄像机拍摄到的第2图像中的至少一方